Title

Inertial Thigh Angle Sensing for a Semi-Active Knee Prosthesis

Document Type

Conference Proceeding

Publication Date

5-2012

Publication Title

IASTED Conference on Imaging and Signal Processing in Health Care and Technology

Abstract

We present an application of a microelectromechanical systems (MEMS)-based inertial measurement unit (IMU) to thigh angle estimation for the control of a semi-active knee prosthesis. By using inertial based measurement devices, we can move all of our sensors to one location inside the prosthetic leg. These sensors are challenging to use, however, because error in their measurements will accumulate over time. We show that by applying the Kalman filter to an IMU consisting of a dual-axis accelerometer and a singleaxis gyroscope, we can decrease the integral of squared error of our thigh angle estimates by 70%.

Original Citation

G. Thomas and D. Simon. (2012). Inertial Thigh Angle Sensing for a Semi-Active Knee Prosthesis. IASTED Conference on Imaging and Signal Processing in Health Care and Technology, 119-124.